% data_min5
% data_min10
% data_min15
% data_min25
% 
% data_plus5
% data_plus10
% data_plus15
% data_plus25
% (lip.E, array_swing_x[i], array_swing_z[i],lip.x, lip.dx,force_tmp))

clc;
clear;
close all;
%simulation of 3000i
data_begin     = load('./data_set_for_lip/data_min10/data_begin') ;%plan at beginning
data_no_fix30 = load('./data_set_for_lip/data_min10/data_no_fix30');%adjust during process
data_no_fix35 = load('./data_set_for_lip/data_min10/data_no_fix35');%35cm  250s
data_process = load('./data_set_for_lip/data_min10/data_process');%35cm  250s

plot(data_begin(:,2), data_begin(:,3),':r','LineWidth', 1.5);
hold on;
plot(data_process(:,2), data_process(:,3),'-c','LineWidth', 1.5);
hold on;
plot(data_no_fix30(:,2), data_no_fix30(:,3),'-.b','LineWidth', 1.5);
hold on;
plot(data_no_fix35(:,2), data_no_fix35(:,3),'--g','LineWidth', 1.5);


xlabel('\fontsize{14}Time (ms)');  
ylabel('\fontsize{14}Obital Energy (J)'); 

set(gca,'FontSize',14);
set(gca,'FontName','Times New Roman');
set(gca,'LineWidth',1);

axis([0 5 -0.0 0.2]);%坐标轴范围
set(gca,'YTick',-0.4:0.2:1.2);
set(gca,'XTick',0.0:300:3000);
grid on;
legend('Basic Gait for Balance ',...
    'Adaptation During Step',...
    'Fix Gait: S=0.35m T=0.25s',...
    'Fix Gait: S=0.3m T=0.25s')